temperature_calibration: refactor to separate code & reduce code duplication

2026-10-22 13:53:34 +08:00 · 2017-02-02 23:54:06 +01:00
parent b6f3cf9425
commit c4a8aa9c68
11 changed files with 1122 additions and 1013 deletions
@@ -0,0 +1,283 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file task.cpp
+ *
+ * Main task handling the temperature calibration process
+ *
+ * @author Beat Küng <beat-kueng@gmx.net>
+ */
+
+#include <uORB/topics/sensor_gyro.h>
+#include <mathlib/mathlib.h>
+#include <px4_log.h>
+#include <px4_posix.h>
+#include <px4_tasks.h>
+#include <drivers/drv_hrt.h>
+
+#include "common.h"
+#include "temperature_calibration.h"
+#include "accel.h"
+#include "baro.h"
+#include "gyro.h"
+
+class TemperatureCalibration;
+
+namespace temperature_calibration
+{
+TemperatureCalibration *instance = nullptr;
+}
+
+
+class TemperatureCalibration
+{
+public:
+	/**
+	 * Constructor
+	 */
+	TemperatureCalibration(bool accel, bool baro, bool gyro);
+
+	/**
+	 * Destructor
+	 */
+	~TemperatureCalibration();
+
+	/**
+	 * Start task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+	static void do_temperature_calibration(int argc, char *argv[]);
+
+	void		task_main();
+
+	void exit() { _force_task_exit = true; }
+
+private:
+	bool	_force_task_exit = false;
+	int	_control_task = -1;		// task handle for task
+
+	bool _accel; ///< enable accel calibration?
+	bool _baro; ///< enable baro calibration?
+	bool _gyro; ///< enable gyro calibration?
+};
+
+TemperatureCalibration::TemperatureCalibration(bool accel, bool baro, bool gyro)
+	: _accel(accel), _baro(baro), _gyro(gyro)
+{
+}
+
+TemperatureCalibration::~TemperatureCalibration()
+{
+}
+
+void TemperatureCalibration::task_main()
+{
+	// subscribe to all gyro instances
+	int gyro_sub[SENSOR_COUNT_MAX];
+	px4_pollfd_struct_t fds[SENSOR_COUNT_MAX] = {};
+	unsigned num_gyro = orb_group_count(ORB_ID(sensor_gyro));
+
+	if (num_gyro > SENSOR_COUNT_MAX) {
+		num_gyro = SENSOR_COUNT_MAX;
+	}
+
+	for (unsigned i = 0; i < num_gyro; i++) {
+		gyro_sub[i] = orb_subscribe_multi(ORB_ID(sensor_gyro), i);
+		fds[i].fd = gyro_sub[i];
+		fds[i].events = POLLIN;
+	}
+
+	int32_t min_temp_rise = 24;
+	param_get(param_find("SYS_CAL_TEMP"), &min_temp_rise);
+	PX4_INFO("Waiting for %i degrees difference in sensor temperature", min_temp_rise);
+
+	//init calibrators
+	TemperatureCalibrationBase *calibrators[3];
+	int num_calibrators = 0;
+
+	if (_accel) {
+		calibrators[num_calibrators] = new TemperatureCalibrationAccel(min_temp_rise);
+
+		if (calibrators[num_calibrators]) {
+			++num_calibrators;
+
+		} else {
+			PX4_ERR("alloc failed");
+		}
+	}
+
+	if (_baro) {
+		calibrators[num_calibrators] = new TemperatureCalibrationBaro(min_temp_rise);
+
+		if (calibrators[num_calibrators]) {
+			++num_calibrators;
+
+		} else {
+			PX4_ERR("alloc failed");
+		}
+	}
+
+	if (_gyro) {
+		calibrators[num_calibrators] = new TemperatureCalibrationGyro(min_temp_rise, gyro_sub, num_gyro);
+
+		if (calibrators[num_calibrators]) {
+			++num_calibrators;
+
+		} else {
+			PX4_ERR("alloc failed");
+		}
+	}
+
+	// reset params
+	for (int i = 0; i < num_calibrators; ++i) {
+		calibrators[i]->reset_calibration();
+	}
+
+	hrt_abstime next_progress_output = hrt_absolute_time() + 1e6;
+
+	while (!_force_task_exit) {
+		/* we poll on the gyro(s), since this is the sensor with the highest update rate.
+		 * Each individual sensor will then check on its own if there's new data.
+		 */
+		int ret = px4_poll(fds, num_gyro, 1000);
+
+		if (ret < 0) {
+			// Poll error, sleep and try again
+			usleep(10000);
+			continue;
+
+		} else if (ret == 0) {
+			// Poll timeout or no new data, do nothing
+			continue;
+		}
+
+		//if gyro is not enabled: we must do an orb_copy here, so that poll() does not immediately return again
+		if (!_gyro) {
+			sensor_gyro_s gyro_data;
+
+			for (int i = 0; i < num_gyro; ++i) {
+				orb_copy(ORB_ID(sensor_gyro), gyro_sub[i], &gyro_data);
+			}
+		}
+
+		int min_progress = 110;
+
+		for (int i = 0; i < num_calibrators; ++i) {
+			ret = calibrators[i]->update();
+
+			if (ret < 0) {
+				PX4_ERR("Calibration update step failed (%i)", ret);
+
+			} else if (ret < min_progress) {
+				min_progress = ret;
+			}
+		}
+
+		if (min_progress == 110) {
+			break; // we are done
+		}
+
+		//print progress each second
+		hrt_abstime now = hrt_absolute_time();
+
+		if (now > next_progress_output) {
+			PX4_INFO("Calibration progress: %i%%", min_progress);
+			next_progress_output = now + 1e6;
+		}
+	}
+
+	// do final calculations & parameter storage
+	for (int i = 0; i < num_calibrators; ++i) {
+		int ret = calibrators[i]->finish();
+
+		if (ret < 0) {
+			PX4_ERR("Failed to finish calibration process (%i)", ret);
+		}
+	}
+
+
+	for (int i = 0; i < num_calibrators; ++i) {
+		delete calibrators[i];
+	}
+
+	for (unsigned i = 0; i < num_gyro; i++) {
+		orb_unsubscribe(gyro_sub[i]);
+	}
+
+	delete temperature_calibration::instance;
+	temperature_calibration::instance = nullptr;
+	PX4_INFO("Exiting temperature calibration task");
+}
+
+void TemperatureCalibration::do_temperature_calibration(int argc, char *argv[])
+{
+	temperature_calibration::instance->task_main();
+}
+
+int TemperatureCalibration::start()
+{
+
+	ASSERT(_control_task == -1);
+	_control_task = px4_task_spawn_cmd("temperature_calib",
+					   SCHED_DEFAULT,
+					   SCHED_PRIORITY_MAX - 5,
+					   5800,
+					   (px4_main_t)&TemperatureCalibration::do_temperature_calibration,
+					   nullptr);
+
+	if (_control_task < 0) {
+		delete temperature_calibration::instance;
+		temperature_calibration::instance = nullptr;
+		PX4_ERR("start failed");
+		return -errno;
+	}
+
+	return 0;
+}
+
+int run_temperature_calibration(bool accel, bool baro, bool gyro)
+{
+	PX4_INFO("Starting temperature calibration task (accel=%i, baro=%i, gyro=%i)", (int)accel, (int)baro, (int)gyro);
+	temperature_calibration::instance = new TemperatureCalibration(accel, baro, gyro);
+
+	if (temperature_calibration::instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return 1;
+	}
+
+	return temperature_calibration::instance->start();
+}